US12528563B2ActiveUtilityA1
Dynamic compensation method for curved surface deformation in ship segmental construction
Est. expiryApr 24, 2040(~13.8 yrs left)· nominal 20-yr term from priority
Inventors:LIU JINFENGZHOU HONGGENJING XUWENWANG ZHENLI LEITIAN GUIZHONGKANG CHAOCHEN YULI GUOCHAOHE QIANG
G06F 30/17G06F 30/15G06F 2119/14G06F 2119/18B63B 73/00
37
PatentIndex Score
0
Cited by
20
References
7
Claims
Abstract
A dynamic compensation method for curved surface deformation in ship segmental construction includes fitting a curved surface and building a segmental deformation compensation model based on an acquired actual segmentation of a ship to obtain a theoretical height of a jig frame; establishing a correlation between jig frames based on a ship segmental deformation range and a compression load of the ship; and performing segmental deformation compensation according to an actual height and the theoretical height of the jig frame by adopting a preset adaptive regulation and control algorithm of jig frame height. According to the compensation method, a correlation between a reference jig frame and slave jig frames of each level is established.
Claims
exact text as granted — not AI-modifiedWhat is claimed is:
1 . A dynamic compensation method for curved surface deformation in ship segmental construction, the method comprising the following steps:
step ( 1 ): fitting a curved surface and building a segmental deformation compensation model based on an acquired actual segmentation of a ship to obtain a theoretical height of a jig frame; wherein the step ( 1 ) comprises the following steps:
step ( 11 ): inversely calculating cubic curved surface control points according to acquired discrete points of a ship segmental outer plate;
step ( 12 ): calculating, based on the cubic curved surface control points, a curved surface fitting equation expressed as:
S
(
u
,
v
)
=
∑
ε
=
0
m
∑
j
=
0
n
N
ε
,
k
(
u
)
N
j
,
k
(
v
)
V
ε
,
j
(
0
≤
u
,
v
≤
1
)
wherein k is 3, which is a cubic NURBS curved surface; u and v are formal parameters; m and n are a number of control points in the u and v directions, respectively, and u and v represent horizontal and vertical directions of the curved surface, respectively; V ε,j (ε=0, 1, . . . , m; j=0, 1, . . . , n) is a control grid vertex, and N ε,k (u) and N j,k (v) are irrational B-spline basis functions; and
step ( 13 ): based on the curved surface fitting equation, coordinates of contact points of a movable joint and the segmental outer plate, a lowest inclination angle of the movable joint and a thickness L of the movable joint, performing coordinate transformation on the curved surface fitting equation by using a node insertion method to obtain a segmental deformation compensation model Z l expressed as:
Z
l
=
∑
ε
=
0
m
∑
j
=
0
n
N
ε
,
3
(
u
_
ε
+
k
-
1
+
❘
"\[LeftBracketingBar]"
X
∂
-
p
x
∂
∂
❘
"\[RightBracketingBar]"
p
x
∑
ε
=
1
m
❘
"\[LeftBracketingBar]"
x
ε
-
x
ϵ
-
1
❘
"\[RightBracketingBar]"
)
N
j
,
3
(
v
_
ε
+
k
-
1
+
❘
"\[LeftBracketingBar]"
Y
∂
-
p
x
∂
∂
❘
"\[RightBracketingBar]"
p
x
∑
ε
=
1
n
❘
"\[LeftBracketingBar]"
y
j
-
y
j
-
1
❘
"\[RightBracketingBar]"
)
V
ε
,
j
-
L
cos
θ
wherein (X θ , Y θ ) are plane coordinates of the jig frame, ū ε+k−1 , v ε+k−1 are parameterized values in intervals [u ε+k−1 , u ε+k ) and [v ε+k−1 , v ε+k ) of original nodes u and v, respectively, u ε+k and v ε+k represent values of original discrete points, x ε and y j represent coordinates X θ , Y θ of ε th and j th discrete points, respectively, p x prev is a coordinate of a previous adjacent discrete point in an X θ direction, and p y prev is a coordinate of a previous adjacent discrete point in an X θ direction; and
θ is the lowest inclination angle of the movable joint,
step ( 2 ): establishing a correlation between the jig frames to define a reference jig frame and a plurality of slave jig frames based on a segmental deformation range and a compression load of the ship; and
wherein the step ( 2 ) comprises:
determining a type of the correlation between the jig frames according to a preset type of the correlation; and
determining a number of jig frame levels and a number of jig frames of each level required by ship segmentation according to the determined type of the correlation and a jig frame load,
step ( 3 ): performing segmental deformation compensation according to an actual height and the theoretical height of the reference jig frame by adopting a preset jig frame height adaptive regulation and control algorithm,
wherein the step ( 3 ) comprises:
step ( 31 ): determining a pressure of the reference jig frame according to a total number of the jig frames in the deformation area and anti-deformation force;
step ( 32 ): determining the actual height of the reference jig frame based on the preset adaptive regulation and control algorithm; and obtaining the theoretical height of the reference jig frame based on the segmental deformation compensation model Z l ;
step ( 33 ): generating dynamic compensation pulse signals according to the pressure, the actual height and the theoretical height of the reference jig frame, and sending the dynamic compensation pulse signals by a stepping motor;
step ( 34 ): transmitting the dynamic compensation pulse signals to the slave jig frames of each level sequentially to obtain a dynamic compensation amount of each slave jig frame for dynamic compensation; and
step ( 35 ): if the pressure of the compensated reference jig frame is within a preset pressure range, ending the dynamic response;
otherwise, returning to the step ( 33 ) to continue the dynamic compensation.
2 . The method according to claim 1 , wherein the preset type of the correlation comprises a serial connection and a parallel connection; in the serial connection, all the jig frames within the segmental deformation range and a range of the compression load are arranged on a same track; in the parallel connection, all the jig frames within the segmental deformation range and the range of the load are arranged on a plurality of different tracks.
3 . The method according to claim 2 , wherein the parallel connection comprises a star connection and an annular connection;
in the star connection, the reference jig frame is taken as a center, the jig frames arranged on two tracks symmetrically distributed from inside to outside relative to a track where the reference jig frame is positioned are of a same level, and the numbers of the jig frames of the same level on the two tracks are equal; in the annular connection, the reference jig frame is taken as the center, and the levels are arranged around the reference jig frame sequentially from inside to outside.
4 . The method according to claim 3 , wherein the reference jig frame is a jig frame at a highest load or closest to the highest load during segmental deformation; the slave jig frames are the jig frames of the levels, and realize dynamic response to the reference jig frame supported by a dynamic response method.
5 . The method according to claim 4 , wherein the number of the jig frame levels is determined by the following steps:
step ( 21 ): determining a preliminary number N of the jig frame levels in a deformation area by observing the number of the jig frames in the deformation area; step ( 22 ): obtaining an actual total pressure of the jig frames of level a through a pressure sensor, wherein a is a level serial number and is a positive integer; and step ( 23 ): judging whether the total pressure of the jig frames of level a is greater than 70% of a total pressure of the jig frames of level a−1 or not: if not, accumulating the level serial number a once, and returning to the step ( 22 ); and if yes, then:
if a is ≥N, determining a final number of the jig frame levels in the deformation area as a; and
if a is <N, accumulating the level serial number a once, and returning to the step ( 23 ).
6 . The method according to claim 5 , wherein the number of the jig frames of each level is determined by the following steps:
when in the serial connection, with the number of the jig frame levels being 1, determining a number of the slave jig frames as the number of the jig frames on a current track in the segmental deformation area; when in the star connection, determining the number of original jig frames of a current level and the number of jig frames outside the deformation area to obtain the number of jig frames of the current level on each track; and determining a final number and positions of the jig frames of the current level according to a preset distance threshold value between the current level and the reference jig frame; and when in the annular connection, determining a number of original jig frames of the current level, and judging whether a plurality of the jig frames of the current level exist on the same track or not: if not, determining the number of the jig frames of the current level as the number of the original jig frames; and if yes, classifying redundant jig frames on the same track into a next level according to a principle that jig frames with greatest included angle are kept on the track, and thus obtaining the number and positions of the jig frames of each level by analogy.
7 . The method according to claim 6 , wherein the preset adaptive regulation and control algorithm is a combination of a fuzzy control algorithm and a proportional integral derivative (PID) control algorithm and comprises:
taking errors of a compression load and a theoretical load of the reference jig frame and error change rates as input variables, and taking the actual height of the reference jig frame as an output variable; and performing parameter setting on proportionality factors K p , K i and K d through processes of fuzzification, fuzzy reasoning and defuzzification, and realizing adaptive control through PID control.Cited by (0)
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